空気圧ソフトアクチュエータを用いたヘビ型管内走行ロボットの試作

抄録

In this paper, we describe the made of snake type in-pipe traveling robot. To inspect the inside of water and gas pipes, a robot is inserted into the pipe. But there are tubes with varying inner diameters. In order to realize a robot that can travel in pipes with different inner diameters, we have proposed a pipe traveling robot that mimics the accordion motion of snakes, which is a method of moving inside pipes and vertical holes. The snake-shaped pipe traveling robot is composed of three body segments to realize accordion motion. The front and back body sections consist of actuators that can flex, and the flexing of the body sections serves as a braking section that can hold the tube. The center section consists of actuators that provide the displacement necessary to drive the robot and is configured as the displacement part.